WebSVN - NaviCtrl - Diff - Rev 231 and 232



#define ERROR_COMPASS_VALUE                     0x20
//----------------------------------------------------------------------------------------------------

 
void CheckErrors(void)
{
 

        UART_VersionInfo.HardwareError[0] = 0;
 
        if((MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) || CheckDelay(I2C1_Timeout) || (I2C_Heading.Heading < 0)) DebugOut.Status[1] |= 0x08;
        else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
 

        if((FC_ErrorCode[1] & DEFEKT_I2C) || (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] |= 0x02;
        else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
 
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
                DebugOut.Status[0] &= ~0x01; // status of FC Present
                DebugOut.Status[0] &= ~0x02; // status of BL Present
                UART_VersionInfo.HardwareError[0] |= ERROR_FC_COMMUNICATION;
        }

                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
                UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION;
                DebugOut.Status[1] |= 0x08;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");

        else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick Gyro");
                ErrorCode = 10;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll Gyro");
                ErrorCode = 11;
        }
        else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
                ErrorCode = 12;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Nick ACC");
                ErrorCode = 13;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Roll ACC");
                ErrorCode = 14;
        }
        else if(FC_ErrorCode[0] & DEFEKT_A_Z)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC Z-ACC");
                ErrorCode = 15;
        }
        else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Pressure sensor");
                ErrorCode = 16;
        }
        else if(FC_ErrorCode[1] & DEFEKT_I2C)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: FC I2C");
                ErrorCode = 17;
        }
        else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"ERR: Bl Missing");
                ErrorCode = 18;
        }
        else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"Mixer Error");
                ErrorCode = 19;
        }
        else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;

        else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC: Carefree Error");
                ErrorCode = 20;
        }
        else if(FC.RC_Quality < 100)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;

                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04;
        else DebugOut.Status[1] &= ~0x04;
}

 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled

Rev 231	Rev 232
Line 148...	Line 148...
148	#define ERROR_COMPASS_VALUE 0x20	148	#define ERROR_COMPASS_VALUE 0x20
149	//----------------------------------------------------------------------------------------------------	149	//----------------------------------------------------------------------------------------------------
Line 150...	Line 150...
150		150
151	void CheckErrors(void)	151	void CheckErrors(void)
152	{	152	{
153	UART_VersionInfo.HardwareError[0] = 0;	-
Line 154...	Line 153...
154		153	UART_VersionInfo.HardwareError[0] = 0;
155		154
156	if((MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| (CheckDelay(I2C1_Timeout)) \|\| (MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| (I2C_Heading.Heading < 0)) DebugOut.Status[1] \|= 0x08;	155	if((MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) \|\| CheckDelay(I2C1_Timeout) \|\| (I2C_Heading.Heading < 0)) DebugOut.Status[1] \|= 0x08;
157	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status	156	else DebugOut.Status[1] &= ~0x08; // MK3Mag green status
158		157
Line 159...	Line 158...
159	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;	158	if((FC_ErrorCode[1] & DEFEKT_I2C) \|\| (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] \|= 0x02;
160	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status	159	else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status
161		160
162	if(CheckDelay(SPI0_Timeout))	161	if(CheckDelay(SPI0_Timeout))
163	{	162	{
164	LED_RED_ON;	163	LED_RED_ON;
165	sprintf(ErrorMSG,"no FC communication ");	164	sprintf(ErrorMSG,"no FC communication ");
166	ErrorCode = 3;	165	ErrorCode = 3;
167	StopNavigation = 1;	166	StopNavigation = 1;
168	DebugOut.Status[0] &= ~0x01; // status of FC Present	167	DebugOut.Status[0] &= ~0x01; // status of FC Present
169	DebugOut.Status[0] &= ~0x02; // status of BL Present	168	DebugOut.Status[0] &= ~0x02; // status of BL Present
170	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;	169	UART_VersionInfo.HardwareError[0] \|= ERROR_FC_COMMUNICATION;
171	}	170	}
Line 177...	Line 176...
177	I2C1_Deinit();	176	I2C1_Deinit();
178	I2C1_Init();	177	I2C1_Init();
179	ErrorCode = 4;	178	ErrorCode = 4;
180	StopNavigation = 1;	179	StopNavigation = 1;
181	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;	180	UART_VersionInfo.HardwareError[0] \|= ERROR_MK3_COMMUNICATION;
182	DebugOut.Status[1] \|= 0x08;	181	DebugOut.Status[1] \|= 0x08;
183	}	182	}
184	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	183	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
185	{	184	{
186	LED_RED_ON;	185	LED_RED_ON;
187	sprintf(ErrorMSG,"FC not compatible ");	186	sprintf(ErrorMSG,"FC not compatible ");
Line 193...	Line 192...
193	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)	192	else if(FC_ErrorCode[0] & DEFEKT_G_NICK)
194	{	193	{
195	LED_RED_ON;	194	LED_RED_ON;
196	sprintf(ErrorMSG,"ERR: FC Nick Gyro");	195	sprintf(ErrorMSG,"ERR: FC Nick Gyro");
197	ErrorCode = 10;	196	ErrorCode = 10;
198	}	197	}
199	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)	198	else if(FC_ErrorCode[0] & DEFEKT_G_ROLL)
200	{	199	{
201	LED_RED_ON;	200	LED_RED_ON;
202	sprintf(ErrorMSG,"ERR: FC Roll Gyro");	201	sprintf(ErrorMSG,"ERR: FC Roll Gyro");
203	ErrorCode = 11;	202	ErrorCode = 11;
204	}	203	}
205	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)	204	else if(FC_ErrorCode[0] & DEFEKT_G_GIER)
206	{	205	{
207	LED_RED_ON;	206	LED_RED_ON;
208	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");	207	sprintf(ErrorMSG,"ERR: FC Yaw Gyro");
209	ErrorCode = 12;	208	ErrorCode = 12;
210	}	209	}
211	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)	210	else if(FC_ErrorCode[0] & DEFEKT_A_NICK)
212	{	211	{
213	LED_RED_ON;	212	LED_RED_ON;
214	sprintf(ErrorMSG,"ERR: FC Nick ACC");	213	sprintf(ErrorMSG,"ERR: FC Nick ACC");
215	ErrorCode = 13;	214	ErrorCode = 13;
216	}	215	}
217	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)	216	else if(FC_ErrorCode[0] & DEFEKT_A_ROLL)
218	{	217	{
219	LED_RED_ON;	218	LED_RED_ON;
220	sprintf(ErrorMSG,"ERR: FC Roll ACC");	219	sprintf(ErrorMSG,"ERR: FC Roll ACC");
221	ErrorCode = 14;	220	ErrorCode = 14;
222	}	221	}
223	else if(FC_ErrorCode[0] & DEFEKT_A_Z)	222	else if(FC_ErrorCode[0] & DEFEKT_A_Z)
224	{	223	{
225	LED_RED_ON;	224	LED_RED_ON;
226	sprintf(ErrorMSG,"ERR: FC Z-ACC");	225	sprintf(ErrorMSG,"ERR: FC Z-ACC");
227	ErrorCode = 15;	226	ErrorCode = 15;
228	}	227	}
229	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)	228	else if(FC_ErrorCode[0] & DEFEKT_PRESSURE)
230	{	229	{
231	LED_RED_ON;	230	LED_RED_ON;
232	sprintf(ErrorMSG,"ERR: Pressure sensor");	231	sprintf(ErrorMSG,"ERR: Pressure sensor");
233	ErrorCode = 16;	232	ErrorCode = 16;
234	}	233	}
235	else if(FC_ErrorCode[1] & DEFEKT_I2C)	234	else if(FC_ErrorCode[1] & DEFEKT_I2C)
236	{	235	{
237	LED_RED_ON;	236	LED_RED_ON;
238	sprintf(ErrorMSG,"ERR: FC I2C");	237	sprintf(ErrorMSG,"ERR: FC I2C");
239	ErrorCode = 17;	238	ErrorCode = 17;
240	}	239	}
241	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)	240	else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING)
242	{	241	{
243	LED_RED_ON;	242	LED_RED_ON;
244	sprintf(ErrorMSG,"ERR: Bl Missing");	243	sprintf(ErrorMSG,"ERR: Bl Missing");
245	ErrorCode = 18;	244	ErrorCode = 18;
246	}	245	}
247	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)	246	else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR)
248	{	247	{
249	LED_RED_ON;	248	LED_RED_ON;
250	sprintf(ErrorMSG,"Mixer Error");	249	sprintf(ErrorMSG,"Mixer Error");
251	ErrorCode = 19;	250	ErrorCode = 19;
252	}	251	}
253	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	252	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
254	{	253	{
255	sprintf(ErrorMSG,"MK3Mag not compatible ");	254	sprintf(ErrorMSG,"MK3Mag not compatible ");
256	LED_RED_ON;	255	LED_RED_ON;
257	ErrorCode = 2;	256	ErrorCode = 2;
Line 284...	Line 283...
284	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)	283	else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR)
285	{	284	{
286	LED_RED_ON;	285	LED_RED_ON;
287	sprintf(ErrorMSG,"FC: Carefree Error");	286	sprintf(ErrorMSG,"FC: Carefree Error");
288	ErrorCode = 20;	287	ErrorCode = 20;
289	}	288	}
290	else if(FC.RC_Quality < 100)	289	else if(FC.RC_Quality < 100)
291	{	290	{
292	LED_RED_ON;	291	LED_RED_ON;
293	sprintf(ErrorMSG,"RC Signal lost ");	292	sprintf(ErrorMSG,"RC Signal lost ");
294	ErrorCode = 7;	293	ErrorCode = 7;
Line 298...	Line 297...
298	sprintf(ErrorMSG,"No Error ");	297	sprintf(ErrorMSG,"No Error ");
299	ErrorCode = 0;	298	ErrorCode = 0;
300	StopNavigation = 0;	299	StopNavigation = 0;
301	LED_RED_OFF;	300	LED_RED_OFF;
302	}	301	}
303	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1] \|\| UART_VersionInfo.HardwareError[0]) DebugOut.Status[1] \|= 0x04;	302	if(UART_VersionInfo.HardwareError[0] \|\| UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 0x04;
304	else DebugOut.Status[1] &= ~0x04;	303	else DebugOut.Status[1] &= ~0x04;
305	}	304	}
Line 306...	Line 305...
306		305
307	// the handler will be cyclic called by the timer 1 ISR	306	// the handler will be cyclic called by the timer 1 ISR
308	// used is for critical timing parts that normaly would handled	307	// used is for critical timing parts that normaly would handled

Subversion Repositories NaviCtrl

(root)/tags/V2.14d/main.c @ 750 - Rev 231 → 232